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Remove duplicate LAND mode, clean up mode reporting across the board to ensure consistency

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This commit is contained in:
Lorenz Meier
2016-03-13 15:39:35 +01:00
parent f472ac577a
commit 1fdf252e96
5 changed files with 23 additions and 29 deletions
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18
src/modules/commander/state_machine_helper.cpp
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@@ -592,7 +592,7 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
if (status->condition_global_position_valid && status->condition_home_position_valid) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RCRECOVER;
} else if (status->condition_local_position_valid) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_LAND;
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
} else if (status->condition_local_altitude_valid) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND;
} else {
@@ -670,7 +670,7 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
if (status->condition_global_position_valid && status->condition_home_position_valid) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTGS;
} else if (status->condition_local_position_valid) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_LAND;
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
} else if (status->condition_local_altitude_valid) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND;
} else {
@@ -687,7 +687,7 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
if (status->condition_global_position_valid && status->condition_home_position_valid) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RCRECOVER;
} else if (status->condition_local_position_valid) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_LAND;
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
} else if (status->condition_local_altitude_valid) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND;
} else {
@@ -711,7 +711,7 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
if (status->condition_global_position_valid && status->condition_home_position_valid) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTGS;
} else if (status->condition_local_position_valid) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_LAND;
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
} else if (status->condition_local_altitude_valid) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND;
} else {
@@ -725,7 +725,7 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
if (status->condition_global_position_valid && status->condition_home_position_valid) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_RTGS;
} else if (status->condition_local_position_valid) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_LAND;
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
} else if (status->condition_local_altitude_valid) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND;
} else {
@@ -753,7 +753,7 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
status->failsafe = true;
if (status->condition_local_position_valid) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_LAND;
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
} else if (status->condition_local_altitude_valid) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND;
} else {
@@ -774,7 +774,7 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
status->failsafe = true;
if (status->condition_local_position_valid) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_LAND;
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
} else if (status->condition_local_altitude_valid) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND;
} else {
@@ -800,7 +800,7 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
status->nav_state = vehicle_status_s::NAVIGATION_STATE_TERMINATION;
}
} else {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_LAND;
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
}
break;
@@ -814,7 +814,7 @@ bool set_nav_state(struct vehicle_status_s *status, const bool data_link_loss_en
status->failsafe = true;
if (status->condition_local_position_valid) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_LAND;
status->nav_state = vehicle_status_s::NAVIGATION_STATE_AUTO_LAND;
} else if (status->condition_local_altitude_valid) {
status->nav_state = vehicle_status_s::NAVIGATION_STATE_DESCEND;
} else {